Pipelined implementation of the IP-block for direct tracking on configurable Zynq 7020 SoC platform

2nd International Telecommunication Conference "Advanced Micro- and Nanoelectronic Systems and Technologies"

Seliverstov, R.A.^1 ; Shagurin, I.I.^1

National Research Nuclear University MEPhI, Moscow Engineering Physics Institute, Kashirskoe shosse 31, Moscow

115409, Russia^1

关键词: Augmented reality systems;    Hardware resources;    Localization system;    Pipelined implementation;    Programmable logic;    Programmable systems;    Spatial localization;    Specialized hardware;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/498/1/012018/pdf
DOI  :  10.1088/1757-899X/498/1/012018

来源: IOP

【 摘 要 】

The possibilities that occur in using specialized hardware for the accelerated execution of a number of computational steps in solving the problem of spatial localization of an object using the modern algorithm Semi-Dense SLAM are considered. As a hardware platform for implementing the localization system, a programmable system is used on a Xilinx Zynq-7020 chip, which consists of two ARM Cortex-A9 processor cores and an array of programmable logic (FPGA). An estimate of the amount of hardware resources required to perform spatial localization is presented. It is shown that the application of the developed computational pipeline allows to significantly increase the localization rate. The results of the research can be used to design navigation systems for unmanned aerial vehicles and autonomous vehicles, as well as augmented reality systems.